[ANGLÈS] The Rolling Spider is Parrot's mini-quadcopter launched in summer 2014. Despite its very light design, this unmanned aerial vehicle has a great compactness and robustness and it has been mainly created for fun and model building fans. It is able to fly indoors and outdoors and it can be piloted via a smartphone or a tablet. Besides, it has an electronic embedded system working on Linux kernel and several sensors which aim at its stability during flight. Thus, the purpose of the project consists of taking the structure and the different command and estimation algorithms implemented in the Rolling Spider as a starting point and exploring the different design possibilities of a convertible UAV. This platforms combine the hovering capability of rotary-wing vehicles (helicopters) with the faster horizontal flight capability of fixed-wing vehicles (planes). In particular, we have intented to concentrate on the study of angle, speed and height estimation and of command variation in order to switch from one flight mode to the other, the main aspects which are considered in the project. This has contributed to highlight the physical and mechanical problems that the adaptation of Rolling Spider implies when trying to build a convertible UAV and it will be used as a basis to continue to study the different design options.